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1612 | dongfang | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + Nur für den privaten Gebrauch |
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4 | // + www.MikroKopter.com |
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5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
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11 | // + Verkauf von Luftbildaufnahmen, usw. |
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12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
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14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
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15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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17 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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18 | // + eindeutig als Ursprung verlinkt werden |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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21 | // + Benutzung auf eigene Gefahr |
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22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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25 | // + mit unserer Zustimmung zulässig |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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30 | // + this list of conditions and the following disclaimer. |
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31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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32 | // + from this software without specific prior written permission. |
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33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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34 | // + for non-commercial use (directly or indirectly) |
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1868 | - | 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1612 | dongfang | 36 | // + with our written permission |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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38 | // + clearly linked as origin |
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39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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49 | // + POSSIBILITY OF SUCH DAMAGE. |
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50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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51 | #include <inttypes.h> |
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52 | #include <avr/io.h> |
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53 | #include <avr/interrupt.h> |
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54 | #include "eeprom.h" |
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55 | #include "analog.h" |
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56 | |||
1805 | - | 57 | // for debugging! |
1869 | - | 58 | #include "uart0.h" |
59 | #include "output.h" |
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1775 | - | 60 | |
1612 | dongfang | 61 | #ifdef USE_MK3MAG |
62 | #include "mk3mag.h" |
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63 | #endif |
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64 | |||
65 | volatile uint16_t CountMilliseconds = 0; |
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66 | volatile uint8_t runFlightControl = 0; |
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67 | volatile uint16_t cntKompass = 0; |
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68 | volatile uint16_t BeepTime = 0; |
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69 | volatile uint16_t BeepModulation = 0xFFFF; |
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70 | |||
71 | #ifdef USE_NAVICTRL |
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72 | volatile uint8_t SendSPI = 0; |
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73 | #endif |
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74 | |||
75 | /***************************************************** |
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76 | * Initialize Timer 0 |
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77 | *****************************************************/ |
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78 | // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
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79 | // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
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80 | void timer0_init(void) { |
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1872 | - | 81 | uint8_t sreg = SREG; |
1612 | dongfang | 82 | |
1872 | - | 83 | // disable all interrupts before reconfiguration |
84 | cli(); |
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1612 | dongfang | 85 | |
1872 | - | 86 | // Configure speaker port as output. |
1612 | dongfang | 87 | |
1872 | - | 88 | if (BoardRelease == 10) { // Speaker at PD2 |
89 | DDRD |= (1 << DDD2); |
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90 | PORTD &= ~(1 << PORTD2); |
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91 | } else { // Speaker at PC7 |
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92 | DDRC |= (1 << DDC7); |
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93 | PORTC &= ~(1 << PORTC7); |
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94 | } |
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1612 | dongfang | 95 | |
1872 | - | 96 | // set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
97 | DDRB |= (1 << DDB4) | (1 << DDB3); |
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98 | PORTB &= ~((1 << PORTB4) | (1 << PORTB3)); |
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1612 | dongfang | 99 | |
1872 | - | 100 | // Timer/Counter 0 Control Register A |
1612 | dongfang | 101 | |
1872 | - | 102 | // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
103 | // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
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104 | // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
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105 | TCCR0A &= ~((1 << COM0A0) | (1 << COM0B0)); |
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106 | TCCR0A |= (1 << COM0A1) | (1 << COM0B1) | (1 << WGM01) | (1 << WGM00); |
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1612 | dongfang | 107 | |
1872 | - | 108 | // Timer/Counter 0 Control Register B |
1612 | dongfang | 109 | |
1872 | - | 110 | // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
111 | // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
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112 | // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
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1612 | dongfang | 113 | |
1872 | - | 114 | // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
115 | TCCR0B &= ~((1 << FOC0A) | (1 << FOC0B) | (1 << WGM02)); |
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116 | TCCR0B = (TCCR0B & 0xF8) | (0 << CS02) | (1 << CS01) | (0 << CS00); |
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1612 | dongfang | 117 | |
1872 | - | 118 | // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
119 | OCR0A = 0; // for PB3 |
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120 | OCR0B = 120; // for PB4 |
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1612 | dongfang | 121 | |
1872 | - | 122 | // init Timer/Counter 0 Register |
123 | TCNT0 = 0; |
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1612 | dongfang | 124 | |
1872 | - | 125 | // Timer/Counter 0 Interrupt Mask Register |
126 | // enable timer overflow interrupt only |
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127 | TIMSK0 &= ~((1 << OCIE0B) | (1 << OCIE0A)); |
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128 | TIMSK0 |= (1 << TOIE0); |
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1821 | - | 129 | |
1872 | - | 130 | SREG = sreg; |
1612 | dongfang | 131 | } |
132 | |||
133 | /*****************************************************/ |
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134 | /* Interrupt Routine of Timer 0 */ |
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135 | /*****************************************************/ |
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1821 | - | 136 | ISR(TIMER0_OVF_vect) |
137 | { // 9765.625 Hz |
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1872 | - | 138 | static uint8_t cnt_1ms = 1, cnt = 0; |
139 | uint8_t Beeper_On = 0; |
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1821 | - | 140 | |
1612 | dongfang | 141 | #ifdef USE_NAVICTRL |
1872 | - | 142 | if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
1612 | dongfang | 143 | #endif |
1821 | - | 144 | |
1872 | - | 145 | if (!cnt--) { // every 10th run (9.765625kHz/10 = 976.5625Hz) |
146 | cnt = 9; |
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147 | cnt_1ms ^= 1; |
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148 | if (!cnt_1ms) { |
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149 | if (runFlightControl == 1) |
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150 | DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
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151 | else |
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152 | DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
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153 | runFlightControl = 1; // every 2nd run (976.5625 Hz/2 = 488.28125 Hz) |
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154 | } |
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155 | CountMilliseconds++; // increment millisecond counter |
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156 | } |
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1821 | - | 157 | |
1872 | - | 158 | // beeper on if duration is not over |
159 | if (BeepTime) { |
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160 | BeepTime--; // decrement BeepTime |
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161 | if (BeepTime & BeepModulation) |
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162 | Beeper_On = 1; |
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163 | else |
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164 | Beeper_On = 0; |
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165 | } else { // beeper off if duration is over |
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166 | Beeper_On = 0; |
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167 | BeepModulation = 0xFFFF; |
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168 | } |
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1821 | - | 169 | |
1872 | - | 170 | // if beeper is on |
171 | if (Beeper_On) { |
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172 | // set speaker port to high. |
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173 | if (BoardRelease == 10) |
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174 | PORTD |= (1 << PORTD2); // Speaker at PD2 |
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175 | else |
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176 | PORTC |= (1 << PORTC7); // Speaker at PC7 |
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177 | } else { // beeper is off |
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178 | // set speaker port to low |
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179 | if (BoardRelease == 10) |
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180 | PORTD &= ~(1 << PORTD2);// Speaker at PD2 |
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181 | else |
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182 | PORTC &= ~(1 << PORTC7);// Speaker at PC7 |
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183 | } |
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1821 | - | 184 | |
1612 | dongfang | 185 | #ifndef USE_NAVICTRL |
1872 | - | 186 | // update compass value if this option is enabled in the settings |
187 | if (staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
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1612 | dongfang | 188 | #ifdef USE_MK3MAG |
1872 | - | 189 | MK3MAG_Update(); // read out mk3mag pwm |
1612 | dongfang | 190 | #endif |
1872 | - | 191 | } |
1612 | dongfang | 192 | #endif |
193 | } |
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194 | |||
195 | // ----------------------------------------------------------------------- |
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1821 | - | 196 | uint16_t SetDelay(uint16_t t) { |
1872 | - | 197 | return (CountMilliseconds + t - 1); |
1612 | dongfang | 198 | } |
199 | |||
200 | // ----------------------------------------------------------------------- |
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201 | int8_t CheckDelay(uint16_t t) { |
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1872 | - | 202 | return (((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
1612 | dongfang | 203 | } |
204 | |||
205 | // ----------------------------------------------------------------------- |
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206 | void Delay_ms(uint16_t w) { |
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1872 | - | 207 | uint16_t t_stop = SetDelay(w); |
208 | while (!CheckDelay(t_stop)) |
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209 | ; |
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1612 | dongfang | 210 | } |
211 | |||
212 | // ----------------------------------------------------------------------- |
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213 | void Delay_ms_Mess(uint16_t w) { |
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1872 | - | 214 | uint16_t t_stop; |
215 | t_stop = SetDelay(w); |
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216 | while (!CheckDelay(t_stop)) { |
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217 | if (analogDataReady) { |
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218 | analogDataReady = 0; |
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219 | analog_start(); |
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220 | } |
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221 | } |
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1612 | dongfang | 222 | } |